KVILImpedanceMPConfig Struct Reference
#include <armarx/control/njoint_mp_controller/task_space/KVILImpedanceController.h>
Inheritance diagram for KVILImpedanceMPConfig:Public Attributes | |
| std::vector< Constraint > | constraintList |
| mp::MP::MPListConfig | mpConfig |
| Public Attributes inherited from KeypointsImpedanceController::Config | |
| float | densityForceScaling = 1.0 |
| std::optional< Eigen::VectorXf > | desiredNullspaceJointAngles |
| Eigen::VectorXf | fixedTranslation |
| bool | isRigid = false |
| Eigen::Vector6f | kdAdmittance |
| Eigen::Vector6f | kdImpedance |
| Eigen::VectorXf | kdNullspace |
| Eigen::VectorXf | keypointKd |
| Eigen::VectorXf | keypointKp |
| float | keypointPositionFilter = 1.0f |
| float | keypointVelocityFilter = 1.0f |
| Eigen::Vector6f | kmAdmittance |
| Eigen::Vector6f | kpImpedance |
| Eigen::VectorXf | kpNullspace |
| int | numPoints |
| keypoints related More... | |
| float | qvelFilter |
| float | torqueLimit |
Detailed Description
Definition at line 63 of file KVILImpedanceController.h.
Member Data Documentation
◆ constraintList
| std::vector<Constraint> constraintList |
Definition at line 67 of file KVILImpedanceController.h.
◆ mpConfig
| mp::MP::MPListConfig mpConfig |
Definition at line 66 of file KVILImpedanceController.h.
The documentation for this struct was generated from the following file:
- armarx/control/njoint_mp_controller/task_space/KVILImpedanceController.h
